#ifndef _pid_h
#define _pid_h
#include "headfile.h"
extern float L_KP,L_KI,L_KD;
extern float R_KP,R_KI,R_KD;
extern float TURN_KP,TURN_KI,TURN_KD;

extern int16  left1_Speed;
extern int16 right1_Speed;
extern int16  out_left_Speed;
extern int16 out_right_Speed;
extern int16  out_turn_speed;
extern float turn_scale;

void left_speed_pd(void);
void right_speed_pd(void);

void turn_pid(void);











#endif